Underwater vehicle load rejection function pool test method

Abstract

The invention relates to an underwater vehicle load rejection function pool test method, and belongs to the technical field of underwater vehicle pool tests. The underwater vehicle load rejection function pool test method comprises the following steps: placing a lifting platform used for simulating the seabed in a pool, and submerging the lifting platform to a preset depth; hoisting the underwater vehicle to dive into water by using a hoisting mechanism, and enabling the underwater vehicle to be positioned above the lifting platform; the depth of the underwater vehicle and / or the lifting platform is adjusted, so that the height between the underwater vehicle and the lifting platform is smaller than the set height, and whether the underwater vehicle executes the load rejection action or not is judged; the depth of the underwater vehicle and / or the lifting platform is adjusted, so that the underwater vehicle dives to the underwater set depth, and whether the underwater vehicle executes the load rejection action or not is judged. According to the test method provided by the invention, the ultra-deep load rejection function and the grounding load rejection function of the underwater vehicle can be tested, the test flexibility is high, the test method is simple, and the test result accuracy is high.

Description

Technical Field

[0001] The invention belongs to the technical field of submersible water tank testing, and in particular relates to a submersible launching function water tank testing method. Background Art

[0002] During actual navigation of a submersible, when the diving depth of the submersible in the ocean exceeds the set value, the jettisoning device will jettison loads to make the submersible surface and stop the submersible from continuing to dive, so as to prevent the submersible from being in danger; when the height of the submersible from the seabed is less than the set value, the jettisoning device will also jettison loads to make the submersible surface, so as to prevent the distance between the submersible and the seabed from being too close and causing the danger of hitting the bottom; when the sailing time of the submersible in the ocean exceeds the set value, the jettisoning device will also jettison loads to make the submersible surface, so that the submersible can end the navigation as soon as possible, so as to avoid the submersible sailing for too long and causing insufficient power, etc.

[0003] When the submersible is sailing normally, whether the submersible jettisons its load is controlled manually. However, when the submersible encounters bottoming, excessive depth, and overtime conditions, the submersible will automatically jettison its load to allow the submersible to float up, thereby protecting the submersible. Therefore, the automatic jettisoning function of the submersible is of great significance to the safe navigation of the submersible. Before the submersible is put into use, the automatic jettisoning function of the submersible will be tested to determine whether the automatic jettisoning function of the submersible meets the requirements. However, in the prior art, the test method for the automatic jettisoning function of the submersible is complicated and the test results are not accurate.

[0004] Therefore, it is of great significance to design a tank test method for the submersible jettisoning function that is simple, easy to operate and has high test result accuracy. Summary of the invention

[0005] In view of the shortcomings existing in the related technologies, the present invention provides a water tank test method for the submersible's jettisoning function. By simulating the ultra-deep, overtime and bottoming conditions of the submersible in its actual navigation, it is determined whether the submersible performs jettisoning under the simulated conditions, so as to test the ultra-deep jettisoning function, overtime jettisoning function and bottoming jettisoning function of the submersible.

[0006] The present invention provides a method for testing a submersible launch function in a water tank, comprising the following steps: Place a lifting platform for simulating the seabed in a water pool, and dive the lifting platform to a preset depth; The submersible is lifted by a lifting mechanism and submerged into the water, and the submersible and the lifting platform are arranged opposite to each other in a vertical direction, and the submersible is located above the lifting platform; Adjust the depth of the submersible and / or the lifting platform so that the height between the submersible and the lifting platform is less than the set height, and determine whether the submersible performs the jettisoning action; if it does, the jettisoning function of the submersible meets the requirements; if it does not, the jettisoning function of the submersible does not meet the requirements; Adjust the depth of the submersible and / or the lifting platform to make the submersible dive to the set depth underwater, and determine whether the submersible performs the jettisoning action; if it does, the jettisoning function of the submersible meets the requirements; if it does not, the jettisoning function of the submersible does not meet the requirements; Make the submersible sail in the pool for longer than the set time to determine whether the submersible performs the jettisoning action; if so, the jettisoning function of the submersible meets the requirements; if not, the jettisoning function of the submersible does not meet the requirements.

[0007] The technical solution simulates the complex terrain of the seabed by setting up a lifting platform in the water pool; adjusts the depth of the submersible and / or the lifting platform so that the height between the submersible and the lifting platform is less than the set height to simulate the situation that the submersible is too close to the seabed during actual navigation, thereby testing the automatic jettisoning performance when the distance between the submersible and the seabed is too close by judging whether to perform the jettisoning action when the height between the submersible and the lifting platform is less than the set height; adjusts the depth of the submersible so that the submersible dives to a set underwater depth to simulate the situation that the diving depth of the submersible exceeds the set value during actual navigation, thereby testing the automatic jettisoning performance when the diving depth exceeds the set value by judging whether to perform the jettisoning action when the submersible dives to the set underwater depth; and tests the automatic jettisoning performance when the submersible exceeds the set navigation time during actual navigation by judging whether to perform the jettisoning action when the navigation time of the submersible in the water pool exceeds the set value.

[0008] In some of the embodiments, the submersible navigates at a constant depth in a pool, and the lifting platform is raised so that the height between the submersible and the lifting platform is less than a set height, and it is determined whether the submersible executes load dumping.

[0009] In some of the embodiments, the submersible performs altitude navigation in a pool, and the lifting platform is lowered to lower the submersible to a set underwater depth to determine whether the submersible executes load jettisoning.

[0010] In some embodiments, the submersible navigates in the pool according to a preset route; the preset route includes at least a first preset segment and a second preset segment, and the first preset segment and the second preset segment are performed in sequence; when the height between the submersible and the lifting platform is less than a set height, the submersible navigates along the first preset segment; when the submersible dives to a set depth underwater, the submersible navigates along the second preset segment.

[0011] In some of the embodiments, the sum of the navigation time of the submersible along the first preset segment and the navigation time of the submersible along the second preset segment is greater than or equal to the set duration.

[0012] This technical solution makes the height between the submersible and the lifting platform less than the set height when the submersible navigates in the water pool according to the first preset segment, makes the submersible dive to the set underwater depth when the submersible navigates in the water pool according to the second preset segment, and makes the sum of the navigation time of the submersible along the first preset segment and the navigation time along the second preset segment exceed the set navigation time, so that the three working conditions of touching the bottom, over-depth and overtime can be simulated in one water pool test, thereby simplifying the test steps and saving test time.

[0013] In some of the embodiments, the submersible is equipped with a weight block. When the submersible performs a throwing action, the weight block is thrown, and the thrown weight block falls on the lifting platform.

[0014] In this technical solution, the lifting platform can receive the heavy blocks dropped by the submersible, thereby realizing the recycling of the heavy blocks.

[0015] In some of the embodiments, the weights are arranged as a group, and when the submersible performs the first jettisoning in the water pool, the submersible performs the physical jettisoning, the submersible executes the jettisoning action and throws out the weights; after the weights are jettisoned, when the submersible performs the next jettisoning in the water pool, the submersible performs the virtual jettisoning, the submersible only executes the jettisoning action without throwing out the weights.

[0016] In some of the embodiments, after the weight is dropped, the lifting mechanism lifts the submersible out of the pool, installs another weight on the submersible, and then dives the submersible into the water to continue the load dropping test; Alternatively, the lifting mechanism lifts the submersible out of the pool, and the lifting platform leaves the pool, the weight is recovered from the lifting platform, the weight is reinstalled on the submersible, and then the submersible and the lifting platform are submerged into the water to continue the load throwing test.

[0017] In some of the embodiments, the submersible is installed in a test device, and the test device restrains the submersible to navigate in place; the lifting mechanism lifts the test device to achieve the lifting of the submersible.

[0018] In some of the embodiments, the testing device and / or the lifting platform is equipped with a camera device, which is used to record whether the submersible performs the throwing action.

[0019] This technical solution sets up a camera device to record whether the submersible performs the jettisoning action, thereby facilitating the judgment of whether the submersible performs the jettisoning action.

[0020] Based on the above technical scheme, the water tank test method for the submersible's jettisoning function in the embodiment of the present invention can simulate the ultra-deep, overtime and bottoming conditions of the submersible in actual navigation, and can test the ultra-deep jettisoning function, overtime jettisoning function and bottoming jettisoning function of the submersible by judging whether the submersible performs jettisoning under the simulated conditions; the test has high flexibility, the test method is simple and easy to operate, and the test results are highly accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a schematic diagram of the structure of the lifting platform and the submersible in the water pool in one embodiment of the submersible throwing function water pool test method of the present invention; Figure 2 It is a structural schematic diagram of an embodiment of a submersible launching function water tank test method of the present invention, in which a submersible is installed in a test device and the test device is placed on a lifting platform; Figure 3 It is a schematic diagram of the structure of a submersible installed on a test device in one embodiment of a submersible launching function water tank test method of the present invention; Figure 4 It is a structural schematic diagram of another angle when a submersible is installed on a test device in one embodiment of a submersible throwing function water tank test method of the present invention; Figure 5 It is a structural schematic diagram of a test device in one embodiment of a submersible launching function water tank test method of the present invention; Figure 6 It is a flow chart of a submersible ultra-deep jettisoning water tank test method in one embodiment of a submersible jettisoning function water tank test method of the present invention; Figure 7 It is a flow chart of a submersible overtime jettisoning water tank test method in one embodiment of a submersible jettisoning function water tank test method of the present invention; Figure 8 The present invention is a flow chart of a method for testing a submersible bottom-touching and jettisoning in a water tank in one embodiment of the method for testing a submersible jettisoning function in a water tank.

[0022] In the figure: 1. Submersible; 2. Test equipment; 3. Lifting platform; 4. Camera equipment; 11. Vertical rudder; 12. Horizontal rudder; 13. Propeller; 14. Navigation control unit; 15. Load dumping device; 21. Frame; 22. Rigid support member; 23. Elastic support member; 24. Locking member. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0025] The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] As attached Figure 1As shown, in an exemplary embodiment of the submersible throwing function water tank test method of the present invention, the submersible throwing function water tank test method includes the following steps: placing a lifting platform 3 for simulating the seabed in the water tank, and diving the lifting platform 3 to a preset depth; using a lifting mechanism to lift the submersible 1 and submerge it into the water, and making the submersible 1 and the lifting platform 3 relatively arranged in the vertical direction, and the submersible 1 is located above the lifting platform 3; adjusting the depth of the submersible 1 and / or the lifting platform 3 so that the submersible 1 If the height between the submersible 1 and the lifting platform 3 is less than the set height, it is judged whether the submersible 1 performs the jettisoning action; if so, the jettisoning function of the submersible 1 meets the requirements; if not, the jettisoning function of the submersible 1 does not meet the requirements; adjust the depth of the submersible 1 and / or the lifting platform 3 to make the submersible 1 dive to the set underwater depth, and judge whether the submersible 1 performs the jettisoning action; if so, the jettisoning function of the submersible 1 meets the requirements; if not, the jettisoning function of the submersible 1 does not meet the requirements.

[0028] In the above-mentioned submersible launching function pool test method, a lifting platform 3 is set in the pool to simulate the seabed; the depth of the submersible 1 and / or the lifting platform 3 is adjusted so that the height between the submersible 1 and the lifting platform 3 is less than the set height to simulate the situation that the submersible 1 is too close to the seabed during actual navigation, thereby testing the automatic launching performance when the distance between the submersible 1 and the seabed is too close by judging whether to perform the launching action when the height between the submersible 1 and the lifting platform 3 is less than the set height; the depth of the submersible 1 is adjusted so that the submersible 1 dives to the set underwater depth to simulate the situation that the diving depth of the submersible 1 exceeds the set value during actual navigation, thereby testing the automatic launching performance when the diving depth of the submersible 1 exceeds the set value by judging whether to perform the launching action when the submersible 1 dives to the set underwater depth.

[0029] The above-mentioned submersible jettisoning function water tank test method also includes the following steps: pre-setting the navigation time of the submersible 1 in the water tank so that the navigation time of the submersible 1 in the water tank exceeds the set time; when the navigation time of the submersible 1 in the water tank exceeds the set time, judging whether the submersible 1 performs the jettisoning action; if executed, the jettisoning function of the submersible 1 meets the requirements; if not executed, the jettisoning function of the submersible 1 does not meet the requirements.

[0030] By making the submersible 1 sail in the pool for longer than the set time, it is simulated that the submersible 1 sails in the ocean for longer than the set value, so as to determine whether to perform the jettisoning action when the submersible 1 sails in the pool for longer than the set value, so as to test the automatic jettisoning performance of the submersible 1 when the actual sailing time exceeds the set sailing time.

[0031] It should be noted that the triggering conditions for the submersible 1 to automatically jettison its load are that the submersible 1 dives to a set underwater depth, the height between the submersible 1 and the seabed is less than the set height, and the navigation time of the submersible 1 exceeds the set time. After the submersible 1 jettisons its load, the depth of the submersible 1 under the water will gradually decrease, and the height between the submersible 1 and the seabed will increase.

[0032] In this embodiment, for the convenience of expression, the situation in which the diving depth of the submersible 1 in the ocean exceeds the set value is referred to as the submersible 1 being in the ultra-deep condition, the situation in which the height of the submersible 1 from the seabed is less than the set value is referred to as the submersible 1 being in the bottoming condition, and the situation in which the sailing time of the submersible 1 in the ocean exceeds the set value is referred to as the submersible 1 being in the overtime condition; the automatic load-dumping function performed by the submersible 1 in the ultra-deep condition is called the ultra-deep load-dumping function, the automatic load-dumping function performed by the submersible 1 in the bottoming condition is called the bottoming load-dumping function, and the automatic load-dumping function performed by the submersible 1 in the overtime condition is called the overtime load-dumping function.

[0033] Whether in the water tank test or in the actual ocean voyage, the submersible 1 navigates according to the preset route.

[0034] The submersible 1 navigates at a constant depth in the pool according to a preset route, raises the lifting platform 3, and lowers the depth of the lifting platform 3, so that the height between the submersible 1 and the lifting platform 3 is less than the set height, and the submersible 1 is in a bottom-touching condition, thereby triggering the condition for the submersible 1 to dump its load when it touches the bottom, and judging whether the submersible 1 dumps its load, so as to test the automatic bottom-touching load-dumping function of the submersible 1.

[0035] The submersible 1 navigates at a constant altitude according to a preset route in the pool, lowers the lifting platform 3, increases the depth of the lifting platform 3, and lowers the submersible 1 to a set underwater depth, so that the submersible 1 is in an ultra-deep working condition, thereby triggering the ultra-deep load-dumping condition of the submersible 1, and judging whether the submersible 1 performs load-dumping, so as to test the ultra-deep load-dumping function of the submersible 1.

[0036] It should be noted that when the submersible 1 is performing altitude-fixed navigation, the height of the lifting platform 3 is adjusted to simulate the continuous change of the seabed elevation, so that the altitude-fixed navigation scene of the submersible 1 in the pool is more consistent with the actual altitude-fixed navigation scene of the submersible 1 in the ocean.

[0037] It should also be noted that the submersible 1 can perform altitude-keeping navigation, depth-keeping navigation, or free navigation along a preset route; it is not the case that the submersible 1 can only perform altitude-keeping navigation when testing the bottom-touching load-dumping function, the ultra-depth function, or the timeout function, and it is not the case that the submersible 1 can only perform depth-keeping navigation when testing the bottom-touching load-dumping function, the ultra-depth function, or the timeout function.

[0038] In addition, it should be noted that the lifting platform 3 can be a connecting plate hoisted by ropes, and the connecting plate can be lifted or lowered by winding or releasing the ropes, thereby changing the height of the connecting plate. The lifting platform 3 belongs to the prior art and will not be described in detail here.

[0039] In practice, the situation where the submersible 1 dives to a set underwater value and the situation where the depth of the submersible 1 from the seabed is less than the set value may occur in the same preset route or in different routes.

[0040] In some embodiments of the present application, the ultra-deep operating condition and the bottoming operating condition of the submersible 1 are made to occur in the same circuit, so that the ultra-deep dumping function, the overtime dumping function and the bottoming dumping function can be tested in one water tank test, thereby simplifying the test steps and saving test time.

[0041] Since the navigation information such as the navigation direction, navigation speed and navigation depth of the submersible 1 will change during the navigation process, the preset route can be divided into a plurality of preset sections according to the navigation information such as the navigation direction, navigation speed and navigation depth, and each preset section at least includes navigation information such as the navigation direction, navigation speed and navigation depth, and at least one of the navigation direction, navigation speed and navigation depth in different preset sections is different. It should be noted that it cannot be narrowly considered that as long as one of the navigation direction, navigation speed and navigation depth is different, the submersible 1 is in a different preset section, which belongs to the common knowledge technology in the field and will not be repeated.

[0042] In the above-mentioned submersible launching function pool test method, the preset route includes at least a first preset segment and a second preset segment, and the first preset segment and the second preset segment are performed in sequence; the sum of the navigation time of the submersible 1 along the first preset segment and the navigation time of the submersible 1 along the second preset segment is greater than or equal to the set time length, so that the navigation time of the submersible 1 in the pool exceeds the set time length; when the height between the submersible 1 and the lifting platform 3 is less than the set height, the submersible 1 navigates along the first preset segment; when the submersible 1 dives to the set underwater depth, the submersible 1 navigates along the second preset segment.

[0043] By making the sum of the sailing time of the submersible 1 along the first preset segment and the sailing time along the second preset segment exceed the set sailing time, the height between the submersible 1 and the lifting platform 3 is less than the set height when the submersible 1 sails in the pool according to the first preset segment, and the submersible 1 dives to the set underwater depth when the submersible 1 sails in the pool according to the second preset segment, the three working conditions of timeout, bottoming and over-depth can be simulated in one pool test, which not only simplifies the test steps but also saves test time.

[0044] The submersible 1 navigates at a constant depth along the first preset section, raises the height of the lifting platform 3, makes the height between the submersible 1 and the lifting platform 3 less than the set value, and the submersible 1 is in a bottoming condition, triggering the bottoming dumping condition of the submersible 1, and judging whether the submersible 1 dumps its load, so as to test the bottoming dumping function of the submersible 1.

[0045] The submersible 1 navigates at a constant altitude along the second preset section, lowering the height of the lifting platform 3, and the submersible 1 also lowers its height accordingly to maintain a fixed height between the submersible 1 and the lifting platform 3. By lowering the height of the lifting platform 3, the submersible 1 is lowered to a set depth, so that the submersible 1 is in an ultra-deep working condition, triggering the ultra-deep dumping condition of the submersible 1, and judging whether the submersible 1 dumps its load, so as to test the bottom dumping function of the submersible 1.

[0046] In actual application, the submersible 1 is equipped with a weight block, and when the submersible 1 performs dumping, the weight block will be dumped, and the submersible 1 floats up by dumping the weight block. When the weight block is dumped, the weight block will fall into the sea.

[0047] Based on this, in some embodiments of the present invention, when the submersible 1 is tested in a water tank, a weight is also installed in the submersible 1. By checking whether a weight is thrown out, it can be determined whether the submersible 1 has performed the jettisoning. By installing a weight on the submersible 1 during the water tank test of the submersible 1, it is not only convenient to determine whether the submersible 1 has performed the jettisoning, but also the judgment result is highly accurate. In addition, during the water tank test, the submersible 1 is located above the lifting platform 3. When the submersible 1 performs the jettisoning, the lifting platform 3 can receive the weight thrown by the submersible 1, thereby realizing the recycling of the weight. However, during the lake test and the sea test of the submersible 1, the weight cannot be recovered after being jettisoned.

[0048] In some embodiments, the submersible 1 is only equipped with a set of weights. Therefore, whether in a water tank test or in actual navigation, the submersible 1 can only drop the weights once. When the submersible 1 drops the weights again, the submersible 1 can only perform the dropping action without the weights being thrown out. It can be seen that if the dropping function of the submersible 1 under different working conditions is tested in a water tank test, when the submersible 1 is dropped in the water tank for the first time, the submersible 1 performs real dropping, and the submersible 1 performs the dropping action and throws out the weights at the same time; and when the submersible 1 is dropped in the water tank again, since the weights have been dropped, the submersible 1 performs virtual dropping, and the submersible 1 only performs the dropping action without throwing out the weights.

[0049] Therefore, the above-mentioned submersible throwing function water tank test method also includes the following steps: after the weight block is thrown, the lifting mechanism lifts the submersible 1 out of the water tank, installs another weight block on the submersible 1, and then submerges the submersible 1 into the water to continue the throwing test; or, the lifting mechanism lifts the submersible 1 out of the water tank, and the lifting platform 3 leaves the water tank, recovers the thrown weight block from the lifting platform 3, reinstalls the weight block on the submersible 1, and then submerges the submersible 1 and the lifting platform 3 into the water to continue the throwing test.

[0050] By checking whether a weight is thrown out, it is determined whether the submersible 1 performs the load-dumping action. The judgment result is highly accurate. However, during the test, the submersible 1 needs to install the weight multiple times, which increases the complexity of the test and increases the test time.

[0051] It should be noted that, since the weight is thrown into the water, in some embodiments, in order to check whether the weight is thrown, a camera device 4 is provided, and the camera device 4 is used to record whether the weight is thrown or whether there is a weight on the lifting platform 3. In this embodiment, the camera device 4 only needs to be able to capture the weight, and the installation position of the camera device 4 is highly flexible and has low shooting requirements.

[0052] In some other embodiments of the present invention, it is determined whether the submersible 1 has performed the jettisoning action by determining whether the submersible 1 has performed the jettisoning action.

[0053] Specifically, the camera device 4 is provided to record whether the submersible 1 performs the jettisoning action. By watching the content photographed by the camera device 4, it is not only convenient to judge whether the submersible 1 performs the jettisoning action, but also the judgment result is highly accurate.

[0054] It should be noted that, since no physical object is being jettisoned, the camera device 4 needs to be set close to or in correspondence with the component of the submersible 1 that performs the jettisoning action to ensure the recording effect of the jettisoning action, which may increase the difficulty of setting up the camera device 4 and increase the shooting requirements of the camera device 4.

[0055] In some embodiments of the present application, Figure 2 As shown, the submersible 1 is installed in the test device 2, so that the test device 2 protects the submersible 1 and prevents the submersible 1 from colliding with other components during the test; and the test device 2 can also restrain the submersible 1 so that the submersible 1 can sail in place, thereby reducing the space required for the pool test of the submersible 1. Among them, the lifting mechanism is connected to the test device 2, and the lifting mechanism lifts the test device 2 to realize the lifting of the submersible 1.

[0056] like Figure 3-Figure 5As shown, the test device 2 includes a frame 21, a support member and a locking member 24. The support member is arranged in the frame 21 and is used to support the submersible 1. The locking member 24 is detachably connected to the top of the support member to lock and fix the submersible 1. The locking member 24 and the support member are arranged opposite to each other in the vertical direction. It should be noted that the support member is adapted to the shape of the bottom of the submersible 1 so that the support member can better support the submersible 1. The locking member 24 is adapted to the shape of the upper part of the submersible 1 so that the locking member 24 can better lock the submersible 1.

[0057] In some embodiments, frame 21 is in a rectangular frame 21 structure, the length, width and height of frame 21 correspond one-to-one to the length, width and height of submersible 1, and the size of frame 21 is larger than the corresponding size of submersible 1, that is, the height of frame 21 is larger than the height of submersible 1, the length of frame 21 is larger than the length of submersible 1, and the width of frame 21 is larger than the width of submersible 1, so that submersible 1 can be located in frame 21, so that frame 21 can better protect submersible 1.

[0058] In some embodiments, the locking member 24 is in a semi-enclosed structure, and the locking member 24 semi-encloses the upper part of the submersible 1.

[0059] The support member includes an elastic support member 23 and a rigid support member 22. Two elastic support members 23 are provided. The two elastic support members 23 are correspondingly provided at both ends of the length direction of the submersible 1 to support both ends of the submersible 1. The elastic support members 23 can effectively protect the outer surface of the submersible 1 from being damaged. The rigid support member 22 is provided between the two elastic support members 23 to support the middle part of the submersible 1.

[0060] In some embodiments, the elastic support member 23 is a spring-supported arc-shaped plate, and the inner concave surface of the arc-shaped plate half wraps the bottom of the submersible 1.

[0061] like Figure 3 and Figure 4 As shown, the camera device 4 is installed on the frame 21, and the camera device 4 is used to record the jettisoning process of the jettisoning device 15. The test process recorded by the camera device 4 can be replayed and compared with the test data information recorded by the navigation control unit 14 and the preset data to determine whether the submersible 1 moves according to the preset process.

[0062] In some embodiments, the image information provided by the camera device 4 can be viewed and compared with the test data information and the preset data to determine whether the submersible 1 operates according to the preset process. The image information can be viewed and determined by the test personnel.

[0063] The submersible 1 includes a throwing device and a navigation control unit 14; the throwing device is used to perform the throwing action and install the weight, and the navigation control unit 14 is used to control the throwing device to perform the throwing action; the navigation control unit 14 is configured to: when the submersible 1 dives to a set underwater depth, or the height between the submersible 1 and the lifting platform 3 is less than the set height, or the navigation time of the submersible 1 in the pool exceeds the set time, control the throwing device to perform the throwing action.

[0064] It should be noted that the specific structure of the jettisoning device 15 and how the navigation control unit 14 controls the operation of the jettisoning device 15 are conventional technical means in the art and will not be described in detail here.

[0065] The navigation control unit 14 is further configured to control the submersible 1 to stop sailing before controlling the jettisoning device to perform the jettisoning action. By making the submersible 1 stationary in the pool before the jettisoning device 15 jettisons, the submersible 1 is prevented from moving and affecting the results of the performance test of the jettisoning device 15.

[0066] In some implementations, the submersible 1 is equipped with two sets of jettisoning devices 15. When the submersible 1 performs jettisoning, the two sets of jettisoning devices 15 complete the jettisoning action in sequence, and the time interval is set to 10s.

[0067] In other embodiments, a single-stage, two-group jettisoning device 15 is used to simulate the actual use of the submersible 1, and the performance test of the jettisoning device 15 is performed after the submersible 1 is sailing at a constant altitude. It should be noted that the normal operation of any group of jettisoning devices 15 can enable the submersible 1 to float to the surface of the water at a fixed elevation angle by relying on its own positive buoyancy.

[0068] like Figure 3 and Figure 4 As shown, the submersible 1 includes a vertical rudder 11 and a horizontal rudder 12. The vertical rudder 11 is installed at the tail of the submersible 1 to control the heading of the submersible 1; the horizontal rudder 12 is usually installed at the front or tail of the submersible 1 to control the pitch attitude of the submersible 1; by changing the angle of the vertical rudder 11, a lateral force can be generated to make the submersible 1 turn left or right, thereby realizing the navigation direction control of the submersible 1 in the horizontal direction; by adjusting the angle of the horizontal rudder 12, the submersible 1 can be tilted up or down, thereby controlling the diving and surfacing of the submersible 1, as well as the navigation attitude in the vertical direction.

[0069] During the navigation of the submersible 1, if the navigation depth of the submersible 1 increases, the horizontal rudder 12 usually deflects downward, causing the head of the submersible 1 to tilt downward, generating a downward torque to help the submersible 1 dive; if the navigation depth of the submersible 1 decreases, the horizontal rudder 12 usually deflects upward, causing the head of the submersible 1 to tilt upward, generating an upward torque to help the submersible 1 float. If the navigation direction of the submersible 1 changes, the vertical rudder 11 will swing left and right accordingly to keep the heading stable. Therefore, when the submersible 1 is actually sailing, the vertical rudder 11 and the horizontal rudder 12 will automatically adjust their respective angles according to the navigation situation of the submersible 1 to ensure the stability and reliability of the navigation of the submersible 1.

[0070] like Figure 3 As shown, the submersible 1 includes a propeller 13, which provides the submersible 1 with power to move forward, backward and turn, and converts electrical energy or other energy into mechanical energy to propel the submersible 1 to move in the water. Different speeds of the propeller 13 may cause the stability of the submersible 1 to change during navigation.

[0071] It should be noted that how the vertical rudder 11, the horizontal rudder 12 and the propeller 13 change and work during the navigation of the submersible 1 belongs to the prior art in this field and will not be described in detail.

[0072] In order to better evaluate the jettisoning function of the submersible 1, the above-mentioned submersible 1 jettisoning function water tank test method also takes the navigation speed of the submersible 1 as a variable, so that the submersible 1 sails along the same preset section at different speeds to evaluate the jettisoning function of the submersible 1 when the submersible 1 triggers the automatic jettisoning conditions at different speeds.

[0073] It should be noted that the navigation control unit 14 serves as the control center of the submersible 1. Various navigation control parameters of the submersible 1 can be set through the navigation control unit 14. The navigation control unit 14 can record test data information such as the angle changes of the horizontal rudder 12 and the vertical rudder 11, the speed of the thruster 13, the data collected by various sensors on the submersible 1, and the control parameter information used for the navigation of the submersible 1 (including but not limited to the set values ​​of parameters such as depth, heading, speed, and altitude) for subsequent analysis and verification.

[0074] The test device 2 can be placed on the lifting platform 3 so that the lifting platform 3 supports the test device 2, thereby increasing the stability of the submersible 1 when sailing in place.

[0075] The submersible 1 can be roughly divided into four stages in the pool, namely: diving stage, navigation stage, floating stage, surface stage, and the diving stage, navigation stage, floating stage, and surface stage are carried out in chronological order.

[0076] The diving stage is also the preliminary preparation stage for the submersible 1 to sail. In the diving stage, the submersible 1 and the lifting platform 3 dive synchronously. When the submersible 1 is at the first preset depth underwater, the propeller 13 rotates at a set speed, the horizontal rudder 12 automatically adjusts according to the set pitch angle, and the vertical rudder 11 maintains the set value unchanged. After the submersible 1 dives to the first set depth, the lifting platform 3 and the hoisting mechanism stop descending, the submersible 1 starts the lighting, and the submersible 1 starts sailing.

[0077] During the navigation of the submersible 1, the submersible 1 navigates according to the preset route, the vertical rudder 11 automatically adjusts the angle according to the set route direction, and the horizontal rudder 12 automatically adjusts the angle according to the set navigation depth. When the submersible 1 dives to the set underwater depth, or the height between the submersible 1 and the lifting platform 3 is less than the set height, or the navigation time of the submersible 1 in the pool exceeds the set time, the navigation control unit 14 controls the throwing device 15 to perform the throwing action. At the same time, the navigation control unit 14 controls the propeller 13 to stop, and the vertical rudder angle and the horizontal rudder angle return to zero. After the throwing device 15 performs the throwing action, the submersible 1 enters the floating stage.

[0078] During the surfacing stage, the hoisting mechanism lifts the submersible 1 up and the lifting platform 3 also rises synchronously. The horizontal rudder 12 maintains the set value unchanged until it floats to the water surface. Then the submersible 1 enters the surface stage to realize the recovery of the submersible 1 and the lifting platform 3.

[0079] The following is a detailed description of the method for the submersible jettisoning function water tank test by taking the bottom-touching jettisoning function, ultra-deep jettisoning function and overtime jettisoning function tests in a water tank test as an example. The submersible 1 sails at a fixed depth according to the first preset section and at a fixed altitude according to the second preset section. The depth of the fixed depth navigation is set to 15m, the depth of the ultra-deep navigation is 20m, the preset time of the fixed depth navigation is 200s, the altitude of the fixed altitude navigation is set to 10m, the bottom-touching jettisoning height is set to 5m, the preset time of the fixed altitude navigation is 200s, the overtime navigation time of the submersible 1 is 400s, and the total navigation time of the submersible 1 is 600s.

[0080] The above-mentioned submersible launching function pool test method comprises the following steps: Place the lifting platform in the water pool and make the lifting platform 3 dive to 25m below the water surface.

[0081] The submersible 1 is lifted by a lifting mechanism and submerged into the water, so that the submersible 1 and the lifting platform 3 are arranged opposite to each other in the vertical direction, and the submersible 1 is located above the lifting platform 3; The hoisting mechanism hoists the submersible 1 to dive to 15m underwater, and the submersible 1 performs depth-fixing navigation. During the depth-fixing navigation of the submersible 1, the height of the lifting platform 3 is adjusted so that the lifting platform 3 is located 20m underwater. The submersible 1 is in a bottom-touching condition, and the submersible 1 triggers a bottom-touching dumping condition. The navigation control unit 14 controls the dumping device 15 to perform a dumping action, and determines whether the dumping device 15 performs a dumping action. If so, the bottom-touching dumping function of the submersible 1 meets the requirements; if not, the bottom-touching dumping function of the submersible 1 does not meet the requirements; After the submersible 1 performs jettisoning, the depth of the submersible 1 in the water decreases, and the submersible 1 continues to sail along the first preset section. After the submersible 1 finishes sailing along the first preset section, it sails at a constant altitude along the second preset section. The height of the submersible 1 changes synchronously with the height of the lifting platform 3, so that the height between the submersible 1 and the lifting platform 3 is 10m. During the submersible 1's constant altitude navigation, the height of the lifting platform 3 is adjusted so that the lifting platform 3 is located 30m underwater, and the submersible 1 is located 20m underwater. The submersible 1 is in an ultra-deep working condition, and the submersible 1 triggers an ultra-deep jettisoning condition. The navigation control unit 14 controls the jettisoning device 15 to perform the jettisoning action, and determines whether the jettisoning device 15 performs the jettisoning action. If it is performed, the ultra-deep jettisoning function of the submersible 1 meets the requirements; if not, the ultra-deep jettisoning function of the submersible 1 does not meet the requirements. After the submersible 1 performs the jettisoning, the height of the lifting platform 3 is adjusted so that the lifting platform 3 is located 20m underwater, and the submersible 1 continues to navigate at a constant altitude along the second preset section; when the navigation time of the submersible 1 exceeds 400s, the submersible 1 is in an overtime condition, and the submersible 1 triggers the overtime jettisoning condition. The navigation control unit 14 controls the jettisoning device 15 to perform the jettisoning action, and determines whether the jettisoning device 15 performs the jettisoning action. If it is executed, the overtime jettisoning function of the submersible 1 meets the requirements; if not, the overtime jettisoning function of the submersible 1 does not meet the requirements; After the navigation time of the submersible 1 reaches 600s, the submersible 1 stops sailing, and the height of the submersible 1 and the lifting platform 3 is raised so that the submersible 1 and the lifting platform 3 leave the pool; The test data information recorded in the navigation control unit 14 and the content recorded by the camera device 4 are analyzed to evaluate the jettisoning function of the submersible 1 .

[0082] It should be noted that the bottom-touching load-dumping function, the ultra-deep load-dumping function and the overtime load-dumping function of the submersible 1 can be carried out in successive tank tests, and can be carried out in multiple tank tests.

[0083] It should also be noted that by connecting the preset debugging cable to the preset debugging interface of the submersible 1, the shore station control unit is connected to the navigation control unit 14, and the shore station control unit can obtain and replay the test data information recorded in the navigation control unit 14 and the content recorded by the camera device 4. Evaluating the jettisoning function of the submersible 1 by analyzing relevant data belongs to the conventional technical means in the field, which will not be repeated here.

[0084] In addition, it should be noted that if the bottom-touching load-dumping function, ultra-deep load-dumping function and overtime load-dumping function of the submersible 1 are subjected to water tank tests respectively, the submersible 1 can be installed on the test device 2 when the submersible 1 is performing depth-constant navigation, so that the test device 2 can be used to protect the submersible 1, and the submersible 1 can navigate in place under the restraining effect of the test device 2, which can reduce the space required for the water tank test.

[0085] like Figure 6 As shown, the following introduces the above-mentioned submersible jettisoning function water tank test method by taking the ultra-deep jettisoning function test of the water tank test as an example. The submersible 1 is navigating in the water tank, and the ultra-deep navigation depth is 20m.

[0086] The above-mentioned submersible launching function pool test method comprises the following steps: Place the lifting platform in the water pool and make the lifting platform 3 dive to 15m below the water surface.

[0087] The submersible 1 is installed on the test device 2, and the test device 2 is hoisted by a hoisting mechanism and the submersible 1 installed on the test device 2 is submerged into the water, so that the submersible 1 and the lifting platform 3 are arranged opposite to each other in the vertical direction, and the test device 2 is placed on the lifting platform 3; The height of the lifting platform 3 and the test device 2 is adjusted so that the submersible 1 is located 15m underwater, and the submersible 1 performs in-situ navigation. During the in-situ navigation of the submersible 1, the height of the lifting platform 3 and the test device 2 is adjusted so that the submersible 1 is located 20m underwater, and the submersible 1 is in an ultra-deep working condition. The submersible 1 triggers an ultra-deep dumping condition, and the navigation control unit 14 controls the dumping device 15 to perform a dumping action. It is determined whether the dumping device 15 performs a dumping action. If it is executed, the ultra-deep dumping function of the submersible 1 meets the requirements; if not, the ultra-deep dumping function of the submersible 1 does not meet the requirements; By connecting the preset debugging cable to the preset debugging interface of the submersible 1, the shore station control unit is connected to the navigation control unit 14. The shore station control unit obtains and plays back the test data information recorded in the navigation control unit 14 and the content recorded by the camera 4. By analyzing the relevant data, the jettisoning function of the submersible 1 is evaluated.

[0088] like Figure 7As shown, when the submersible 1 is tested for the overtime dumping function in the tank test, the operating steps of the submersible dumping function tank test method; Figure 8 As shown, when the submersible 1 is tested for the bottom-touching load-dumping function in the water tank test, the operating steps of the submersible's load-dumping function water tank test method are as follows; they will not be described in detail here.

[0089] In this embodiment, the submersible 1 adopts a powered spiral diving mode during the diving stage, with negative buoyancy as the main driving force of the diving process, and the steering gear cooperates with the propeller 13 as a power supplement, and performs spiral motion at a preset inclination angle. The specific operation is: the hoisting mechanism hoists the test device 2 together with the submersible 1 and the lifting platform 3 to descend in coordination, and after diving to the preset water depth, the propeller 13 starts to work and rotates at the set speed, the horizontal rudder 12 automatically adjusts according to the set pitch angle, and the vertical rudder 11 keeps the set value unchanged.

[0090] The above-mentioned submersible jettisoning function water tank test method can simulate the ultra-deep, overtime and bottoming conditions of the submersible 1 in actual navigation, and can test the ultra-deep jettisoning function, overtime jettisoning function and bottoming jettisoning function of the submersible 1 by judging whether the submersible 1 performs jettisoning under the simulated conditions; the test has high flexibility, simple test methods, easy operation, and high accuracy of the test results.

[0091] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0092] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A method for testing a submersible launch function in a water tank, characterized in that: The following steps are involved: Placing a lifting platform for simulating the seabed in a water pool, and diving the lifting platform to a preset depth; Using a lifting mechanism to lift the submersible and submerge it into the water, and making the submersible and the lifting platform face each other in a vertical direction, with the submersible being located above the lifting platform; Adjust the depth of the submersible and / or the lifting platform so that the height between the submersible and the lifting platform is less than the set height, and judge whether the submersible performs a jettisoning action; if so, the jettisoning function of the submersible meets the requirements; if not, the jettisoning function of the submersible does not meet the requirements; Adjust the depth of the submersible and / or the lifting platform to make the submersible dive to a set depth underwater, and determine whether the submersible performs a jettisoning action; if so, the jettisoning function of the submersible meets the requirements; if not, the jettisoning function of the submersible does not meet the requirements; The navigation time of the submersible in the pool exceeds a set time, and it is determined whether the submersible performs a jettisoning action; if so, the jettisoning function of the submersible meets the requirements; if not, the jettisoning function of the submersible does not meet the requirements.

2. The submersible launch function tank test method according to claim 1, characterized in that: The submersible is made to perform depth-keeping navigation in a water pool. During the depth-keeping navigation of the submersible, the lifting platform is raised so that the height between the submersible and the lifting platform is less than a set height, and it is determined whether the submersible performs load dumping.

3. The submersible launch function pool test method according to claim 1, characterized in that: The submersible is made to perform altitude-fixing navigation in a pool. During the altitude-fixing navigation of the submersible, the lifting platform is lowered to lower the submersible to a set underwater depth, and it is determined whether the submersible performs load dumping.

4. The submersible launching function tank test method according to any one of claims 1 to 3, characterized in that: The submersible navigates in the pool along a preset route; the preset route includes at least a first preset segment and a second preset segment, and the first preset segment and the second preset segment are performed in sequence; when the height between the submersible and the lifting platform is less than a set height, the submersible navigates along the first preset segment; when the submersible dives to a set underwater depth, the submersible navigates along the second preset segment.

5. The submersible launch function tank test method according to claim 4, characterized in that: The sum of the navigation time of the submersible along the first preset route segment and the navigation time of the submersible along the second preset route segment is greater than or equal to the set duration.

6. The submersible launching function tank test method according to claim 1, characterized in that: The submersible is equipped with a weight block. When the submersible performs a throwing action, the weight block is thrown, and the weight block falls on the lifting platform after being thrown.

7. The method for testing the submersible vehicle launching function in a water tank according to claim 6, characterized in that: The weight block is set as a group. When the submersible performs the first jettisoning in the water pool, the submersible performs the physical jettisoning, the submersible executes the jettisoning action and throws out the weight block; after the weight block is jettisoned, when the submersible performs the next jettisoning in the water pool, the submersible performs the virtual jettisoning, the submersible only executes the jettisoning action without throwing out the weight block.

8. The method for testing the submersible vehicle launching function in a water tank according to claim 6, characterized in that: After the weight block is thrown, the lifting mechanism lifts the submersible out of the pool, installs another weight block on the submersible, and then dives the submersible into the water to continue the throwing test; Alternatively, the hoisting mechanism hoists the submersible out of the pool, and the lifting platform leaves the pool, the weight block is recovered from the lifting platform, and after the weight block is reinstalled on the submersible, the submersible and the lifting platform are submerged into the water to continue the load throwing test.

9. The method for testing the submersible vehicle launching function in a water tank according to claim 1, characterized in that: The submersible is installed in a test device, and the test device constrains the submersible to navigate in situ; the hoisting mechanism hoists the test device to realize the hoisting of the submersible.

10. The submersible launching function pool test method according to claim 9, characterized in that: The testing device and / or the lifting platform are equipped with a camera device, and the camera device is used to record whether the submersible performs a throwing action.

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